CN103940422A - System for acquiring composite posture parameters of shooting and archery - Google Patents

Abstract

The invention discloses a system for acquiring composite posture parameters of shooting and archery. The system comprises a machine vision data acquisition device, a wireless posture parameter acquisition device, a synchronous signal transmitting device and a control center. A sensor module of the wireless posture parameter acquisition device comprises a gyroscope and an acceleration sensor; a data processing module performs data smoothing by adopting a Kalman filtering algorithm and calculates a posture angle through a quaternion method. The system for acquiring composite posture parameters of shooting and archery disclosed by the invention has the advantages that the system is light in overall weight, convenient to carry, simple and convenient to install and operate and low in training cost, diversified shooting and archery training requirements can be met, the data can be recorded in real time, the posture analyzing and processing is performed, and the quantified data information is provided.

Description

The compound attitude parameter of shooting archery obtains system

Technical field

The invention belongs to shooting archery supplemental training field, be specifically related to the compound attitude parameter of a kind of shooting archery and obtain system.

Background technology

Shooting archery event is traditional project of Olympic contest, China's shooting archery event had had significant progress in recent years, achievement in each large match is become better and better, but this intermediate item of China is started late, although have into training method and the relevant auxiliary equipment of system, mostly taking qualitative examination action as main, and mostly can not obtain in real time feedback data, training effectiveness is lower, data often single, not comprehensively, architectonical not.Trainer will further consolidate and improve China shooting bow's technology and sports achievement, need to go deep into the relevant motion conditions of athletic health and apparatus in this type games, quantitative research, instruct targetedly training practice, make sportsman obtain better training effect.

In shooting archery process, reasonably motion posture directly affects athletic achievement.For sportsman, for improving shooting level and training effectiveness, obtain the kinematic parameter of human body and apparatus in the training process of shooting archery, for example present arms with transport speed in the process of rifle, acceleration, angle, in shooting course jitter conditions, the motion posture of health main positions etc. of arm, be very necessary.Especially in high-intensity training, the sensation that sportsman will cultivate shooting archery forms muscle memory, but high-intensity training causes athletes ' body fatigue, move out of shape, thereby the low tide one that enters cycle of training.In the past, sportsman relied on repetition training to find best shooting archery sensation, had often wasted a lot of time and efforts and had not also reached training requirement.In addition, at present coach and athlete's methods that adopt the video recording of watching training or compete when athletes ' body or apparatus in research shooting archery process more, this method uses very inconvenient sometimes, and the coach and athlete who lacks experience is difficult to find fine distinction in each action, just more limited for high performance athlete effect; Now sportsman just needs certain auxiliary equipment record each position of own health and the athletic posture of the apparatus of holding and carry out quantitative test, thereby the athletic posture of adjusting targetedly self is strengthened training in the place of finding out shortcomings.

The present invention, with regard to the problems referred to above, by the athletic attitude data of Real-time Obtaining, analyzes its motion feature, for trainer's training provides scientific basis; Find out the reason that causes sportsman to miss the target simultaneously, give sportsman and the most direct evidence of trainer, improved in time moving, its technical merit and sports achievement are improved constantly, improve the scientific degree of training, to reach saving training cost, improve the object of shooting technical ability.

Summary of the invention

The present invention tries hard to study a kind of new method of shooting shooting technique developing for trainer, propose the compound attitude parameter of a kind of shooting archery and obtain system, shoot the needs of archery training for sportsman, in shooting bow match or training, record and analyze the relevant athletic posture of athletes ' body main positions and the apparatus of holding, real-time provide the quantized result after analysis, improve athletic training effectiveness and effect.Have overall weight light, be easy to carry, fitting operation is easy, training cost is low, can meet variation shooting archery training requirement, and can real-time recorded data, carries out posture analysis processing, and the advantages such as quantized data information are provided.In order to realize the object of the invention described above, technical scheme of the present invention is:

The compound attitude parameter of shooting archery obtains system, comprise machine vision data collector, wireless attitude parameter acquisition device, synchronizing signal dispensing device and control center, machine vision data collector comprises data acquisition facility, A trigger module and data transmission module, and data acquisition facility is a high-speed camera; Wireless attitude parameter acquisition device comprises sensor assembly, A microcontroller, memory module and A radio receiving transmitting module; Synchronizing signal dispensing device comprises B radio receiving transmitting module, B trigger module, and B microcontroller; Control center comprises the mainly collection of responsible athletes ' body main positions athletic posture of central control module, Speech signal detection module, data transmit-receive module, synchronizing signal receiver module and data processing module machine vision data collector, wireless attitude parameter acquisition device is mainly responsible for sportsman and is held the collection of apparatus work attitude, it is characterized in that: the sensor assembly of wireless attitude parameter acquisition device comprises gyroscope and acceleration transducer; Data processing module adopts Kalman filtering algorithm smoothed data, calculates attitude angle by Quaternion Method.

Described sensor assembly adopts encapsulation technology to use epoxy resin parcel.

Described sensor assembly obtains 200 secondary data continuously, and gets the mean value of these data, in the calculating as the error compensation substitution data processing under current environment.

Brief description of the drawings

Fig. 1 is the block diagram of system of the present invention;

Fig. 2 is preferred embodiments schematic diagram of the present invention;

Fig. 3 is working-flow figure of the present invention.

Embodiment

Below in conjunction with accompanying drawing and preferred embodiments, the present invention is described further:

As shown in Figure 1-2, the compound attitude parameter of shooting archery obtains system, comprises machine vision data collector 10, wireless attitude parameter acquisition device 20, synchronizing signal dispensing device 30 and control center 40.Machine vision data collector comprises data acquisition facility, A trigger module and data transmission module, and data acquisition facility is a high-speed camera; Wireless attitude parameter acquisition device comprises sensor assembly, A microcontroller, memory module and A radio receiving transmitting module, and sensor assembly comprises again gyroscope and acceleration transducer; Synchronizing signal dispensing device comprises B radio receiving transmitting module, B trigger module, and B microcontroller; Control center comprises central control module, Speech signal detection module, data transmit-receive module, synchronizing signal receiver module and data processing module.

The hand-held shooting of sportsman or tackle, wireless attitude parameter acquisition device is arranged on shooting or tackle; Data acquisition facility in machine vision data collector is placed in athletic dead ahead; Control center is positioned over athletic right side; Described machine vision data collector gathers sportsman and holds shooting or the associ-ated motion parameters of tackle in shooting course, and sends it to control center; Control center carries out pre-service to the view data receiving, and determines whether and hits the mark.

Wherein: described machine vision data collector is in order to gather the kinematic parameter of athletes ' body main positions, and described wireless attitude parameter acquisition device is in order to gather the athletic posture of apparatus that sportsman holds.

Described machine vision data collector comprises data acquisition facility, A trigger module and data transmission module, for recording the athletic posture of training process athletes ' body main positions.The enabling signal from described control center that described trigger module basis receives then described data acquisition module starts image data, and outputs to control center by data transmission module.In present embodiment, described data acquisition module comprises that this high-speed camera of high-speed camera is placed in athletic dead ahead.

Described wireless attitude parameter acquisition device comprises sensor assembly, A microcontroller, memory module and A radio receiving transmitting module, for obtaining sportsman at flying saucer training process shooting gun rifle body or the overall kinematic parameter of bending low.Described A microcontroller is for controlling described sensor assembly, A radio receiving transmitting module and memory module; The data that described memory module collects for temporary sensor assembly, A radio receiving transmitting module is for sending the data of described memory module.Described wireless attitude parameter acquisition device is arranged on the bow and arrow of shooting gun or match, training use.

Described synchronizing signal dispensing device comprises B radio receiving transmitting module, and B trigger module, and B microcontroller gather terminal for sending synchronizing signal to control center with specified data.Described B microcontroller is for controlling described B radio receiving transmitting module and the B trigger module of telling; Whether described B trigger module sends shooting or archery action for detection of sportsman; Described B radio receiving transmitting module is used for sending synchronizing signal.Described synchronizing signal dispensing device is arranged on the bow and arrow of shooting gun or match, training use.

Described control center comprises central control module, voice acquisition module, data transmit-receive module, synchronizing signal receiver module and data processing module, Central Control Module is the core of whole system, for controlling the work of machine vision data harvester and wireless attitude parameter acquisition device, the Data Concurrent that machine vision data collector described in its data transmit-receive module receives and wireless attitude parameter acquisition device send is given data processing module, the machine vision data collector that the synchronizing signal that synchronizing signal dispensing device described in synchronizing signal receiver module receives sends control are described and described wireless attitude parameter acquisition device start image data, data processing module is processed described data transmit-receive module and is received the data of returning and the result of handling well is turned back to control center stores to be looked into return.Control center is positioned over athletic right side.

Athletes ' body main positions comprises: head, shoulder, waist and both arms; The athletic posture parameter of the described apparatus of holding comprises: the angular velocity of rifle body or bent body in shooting course, linear acceleration, the shock momentum in angular acceleration, the angle of moving and process.

As shown in Figure 2, sportsman stands in the center of native system, and described machine vision data collector high speed video camera is just to sportsman, for recording the motion posture of sportsman in the health main positions of shooting course, control center is positioned over sportsman right side, sportsman first sends " beginning " voice signal control center and receives and control described machine vision data collector after initiation command and described wireless attitude parameter acquisition device starts to gather attitude information and sends to control center, then according to oneself wish at any time cocking shoot, in the time of sportsman's cocking, described synchronous trigger module produces synchronizing signal, and send to control center, control center receives and controls described machine vision data collector after synchronizing signal and stop acquisition of image data and control described wireless attitude parameter acquisition device stopping gathering attitude data, control center carries out image processing and attitude parameter calculating after receiving data, analyze athletes ' body main positions movement locus and penetrate machine gun or the shooting course of bow in relevant attitude parameter and shock conditions then feed back to control center, the data processing module of control center is drawn out the change in location curve of health main positions and the angular velocity of the apparatus of holding, acceleration, vibrations wait attitude parameter change curve, when detecting after " continuation " order, refreshing interface restarts.

The present invention be directed to Olympic Games shooting archery class training program specialized designs invention.

As shown in Figure 3, system of the present invention adopts following workflow:

1) system initialization

After open system, the each ingredient of system powers on and carries out initialization, and whether test exists abnormal, if without extremely entering waiting status; Restart system if note abnormalities;

2) detect effective commencing signal

System initialization finishes to enter waiting status, and control center receives " beginning " signal that sportsman sends, and this voice signal is sent to described machine vision data collector and wireless attitude parameter acquisition device;

3) data acquisition of machine vision and attitude parameter

When described machine vision data collector and wireless attitude parameter acquisition device receive after " beginning " voice signal that control center sends, described machine vision data collector starts to gather the attitude parameter data of athletes ' body main positions, and sending it to control center, described wireless attitude parameter acquisition device starts to gather the attitude parameter of shooting gun body or bow simultaneously; B trigger module described in when sportsman's cocking or relieving bowstring in synchronizing signal dispensing device triggers, described synchronizing signal dispensing device sends synchronizing signal to control center, and after control center receives synchronizing signal, described machine vision data collector and the wireless attitude parameter acquisition device of control stops data acquisition;

4) data processing

After the data that machine vision data collector described in control center receives and wireless attitude parameter acquisition device are passed back, video data to described machine vision data collector collection carries out image processing analysis, the attitude data that described wireless attitude parameter acquisition device gathers, quantized data after treatment is depicted as to corresponding curve map, to facilitate trainer and sportsman to check, when data processing, adopt Kalman filtering algorithm to carry out smoothed data processing, and calculate attitude angle by Quaternion Method.

(1) Kalman filtering algorithm

The data that sensor assembly directly gets, all with score accumulation error, need to be carried out pre-service to it and eliminate this error, regard sensor assembly measuring process as a linear time varying system, and the discrete state equations of establishing linear time varying system is:

X(k)＝F(k,k-1)·X(k-1)+T(k,k-1)·U(k-1)

Linear time varying system observation equation is

Y(k)＝H(k)·X(k)+N(k)

Wherein, X (k) and Y (k) are respectively state vector and the measurement vector in k moment; F (k, k-1) is state-transition matrix; U (k) is k moment dynamic noise; T (k, k-1) is system gating matrix; H (k) is k moment observing matrix; N (k) is k moment observation noise.

The algorithm flow of Kalman filtering is:

(a) pre-estimation X (k) ^=F (k, k-1) X (k-1)

(b) calculate pre-estimation covariance matrix

C(k)^＝F(k,k-1)×C(k)×F(k,k-1)'+T(k,k-1)×Q(k)×T(k,k-1)'

Q(k)＝U(k)×U(k)'

(c) calculate kalman gain matrix

K(k)＝C(k)^×H(k)'×[H(k)×C(k)^×H(k)'+R(k)]^(-1)

R(k)＝N(k)×N(k)'

(d) upgrade and estimate

X(k)～＝X(k)^+K(k)×[Y(k)-H(k)×X(k)^]

(e) calculate and upgrade the rear covariance matrix of estimating

C(k)～＝[I-K(k)×H(k)]×C(k)^×[I-K(k)×H(k)]'+K(k)×R(k)×K(k)'

(f)X(k+1)＝X(k)～

C(k+1)＝C(k)～

Repeat above step.

(2) Quaternion Method

Hypercomplex number is by 1 and 3 imaginary units of 1 real number unit the supercomplex that comprises 4 real arguments of composition.If will be considered as base vector, hypercomplex number can be divided into scalar sum vector two parts composition.Its form is:

$Q=q_0+q_1\stackrel{\→}{i}+q_2\stackrel{\→}{j}+q_3\stackrel{\→}{k}=q_0+\stackrel{\→}{q}---\left(1\right)$

And $q_0^2+q_1^2+q_2^2+q_3^2=1,$ Wherein q ₀for scalar, for vector.

Introduce after hypercomplex number, direction cosine matrix can be expressed as by hypercomplex number

$C_i^e=\left[\begin{array}{ccc}{q}_1^2+q_0^2-q_3^2-q_2^2& 2(q_1{q}_2+q_0{q}_3)& 2(q_1{q}_3-q_0{q}_2)\\ 2(q_1{q}_2-q_0{q}_3)& q_0^2-q_1^2+q_2^2-q_3^2& 2(q_2{q}_3+q_0{q}_1)\\ 2(q_1{q}_3+q_0{q}_2)& 2(q_2{q}_3-q_0{q}_1)& q_0^2-q_1^2-q_2^2+q_3^2\end{array}\right]---\left(2\right)$

By above formula, we can obtain

$\left[\begin{array}{c}{\stackrel{\·}{q}}_0\\ {\stackrel{\·}{q}}_1\\ {\stackrel{\·}{q}}_2\\ {\stackrel{\·}{q}}_3\end{array}\right]=\frac{1}{2}\left[\begin{array}{cccc}0& -{\mathrm{\ω}}_x& -{\mathrm{\ω}}_y& -{\mathrm{\ω}}_z\\ {\mathrm{\ω}}_x& 0& {\mathrm{\ω}}_z& -{\mathrm{\ω}}_y\\ {\mathrm{\ω}}_y& -{\mathrm{\ω}}_z& 0& {\mathrm{\ω}}_z\\ {\mathrm{\ω}}_z& {\mathrm{\ω}}_y& -{\mathrm{\ω}}_x& 0\end{array}\right]\left[\begin{array}{c}{q}_0\\ q_1\\ q_2\\ q_3\end{array}\right]---\left(3\right)$

Utilize complete card approximatioss to solve and can obtain: $q\left(t\right)=e^{{\frac{1}{2}\∫M}^{*}\left(\mathrm{\ω}\right)\mathrm{dt}}q\left(t_0\right)---\left(4\right)$

Order:

$\left[\mathrm{\Δ\θ}\right]={\∫M}^{*}\left(\mathrm{\ω}\right)\mathrm{dt}=\left[\begin{array}{cccc}0& -\mathrm{\Δ}{\mathrm{\θ}}_x& -\mathrm{\Δ}{\mathrm{\θ}}_y& -\mathrm{\Δ}{\mathrm{\θ}}_z\\ \mathrm{\Δ}{\mathrm{\θ}}_x& 0& \mathrm{\Δ}{\mathrm{\θ}}_z& -\mathrm{\Δ}{\mathrm{\θ}}_y\\ \mathrm{\Δ}{\mathrm{\θ}}_y& -\mathrm{\Δ}{\mathrm{\θ}}_z& 0& \mathrm{\Δ}{\mathrm{\θ}}_y\\ \mathrm{\Δ}{\mathrm{\θ}}_z& \mathrm{\Δ}{\mathrm{\θ}}_y& -\mathrm{\Δ}{\mathrm{\θ}}_x& 0\end{array}\right]---\left(5\right)$

Formula (4) can be abbreviated as:

$q\left(t\right)=e^{\frac{1}{2}\left[\mathrm{\Δ\θ}\right]}q\left(0\right)---\left(6\right)$

Will expansion can obtain:

$q\left(t\right)=[I+\frac{1}{2}[\mathrm{\Δ\θ}]+\frac{1}{2!}{\left(\frac{\left[\mathrm{\Δ\θ}\right]}{2}\right)}^2+\frac{1}{3!}{\left(\frac{\left[\mathrm{\Δ\θ}\right]}{2}\right)}^3+...+\frac{1}{n!}{\left(\frac{\left[\mathrm{\Δ\θ}\right]}{2}\right)}^n+...]q\left(0\right)---\left(7\right)$

Due to:

$\begin{array}{c}{\left[\mathrm{\Δ\θ}\right]}^2==-[\mathrm{\Δ}{\mathrm{\θ}}_x^2+\mathrm{\Δ}{\mathrm{\θ}}_y^2+\mathrm{\Δ}{\mathrm{\θ}}_z^2]I=-\mathrm{\Δ}{\mathrm{\θ}}_0^{2}I\\ {\left[\mathrm{\Δ\θ}\right]}^3=-\mathrm{\Δ}{\mathrm{\θ}}_0^2\left[\mathrm{\Δ\θ}\right]\\ {\left[\mathrm{\Δ\θ}\right]}^4=-\mathrm{\Δ}{\mathrm{\θ}}_0^{4}I\end{array}---\left(8\right)$

Formula (8) substitution formula (7) is arranged and can be obtained:

$q\left(t\right)=\{\cos \frac{\mathrm{\Δ}{\mathrm{\θ}}_0}{2}I+\frac{\sin \frac{\mathrm{\Δ}{\mathrm{\θ}}_0}{2}}{\mathrm{\Δ}{\mathrm{\θ}}_0}[\mathrm{\Δ\θ}\left]\right\}q\left(0\right)---\left(9\right)$

? with exhibition is for progression form and get finite term, obtains each rank approximate data of hypercomplex number.

One order algorithm:

$q(n+1)=\{I+\frac{1}{2}[\mathrm{\Δ\θ}\left]\right\}q\left(n\right)---\left(10\right)$

Second order algorithm:

$q(n+1)=\{(1-\frac{{\left(\mathrm{\Δ}{\mathrm{\θ}}_0\right)}^2}{8})I+\frac{1}{2}[\mathrm{\Δ\θ}\left]\right\}q\left(n\right)---\left(11\right)$

Three order algorithms:

$q(n+1)=\{(1-\frac{{\left(\mathrm{\Δ}{\mathrm{\θ}}_0\right)}^2}{8})I+(\frac{1}{2}-\frac{{\left(\mathrm{\Δ}{\mathrm{\θ}}_0\right)}^2}{48})[\mathrm{\Δ\θ}\left]\right\}q\left(n\right)---\left(12\right)$

Quadravalence algorithm:

$q(n+1)=\{(1-\frac{{\left(\mathrm{\Δ}{\mathrm{\θ}}_0\right)}^2}{8}+\frac{{\left(\mathrm{\Δ}{\mathrm{\θ}}_0\right)}^4}{384})I+(\frac{1}{2}-\frac{{\left(\mathrm{\Δ}{\mathrm{\θ}}_0\right)}^2}{48})[\mathrm{\Δ\θ}\left]\right\}q\left(n\right)---\left(13\right)$

Solve quaternion differential equation except above delta algorithm, can also utilize the numerical integration algorithm such as imperial lattice-Ku Tafa or Adiemus method to solve the differential equation.But after iteration certain hour, hypercomplex number can not meet in order to allow it meet this formula, must be normalized.

Determining of initial value:

$q_0=\±\frac{1}{2}\sqrt{1+C_{11}+C_{22}+C_{33}}$

$q_1=\±\frac{1}{2}\sqrt{1+C_{11}-C_{22}-C_{33}}$

$q_2=\±\frac{1}{2}\sqrt{1-C_{11}+C_{22}-C_{33}}$

$q_3=\±\frac{1}{2}\sqrt{1-C_{11}-C_{22}+C_{33}}$

Determining of sign

Desirable $\begin{array}{c}{\mathrm{signq}}_0=+\\ {\mathrm{signq}}_1=\mathrm{sign}(C_{23}-C_{32})\\ {\sin \mathrm{gq}}_2=\mathrm{sign}(C_{31}-C_{13})\\ \sin g{q}_3=\mathrm{sign}(C_{12}-C_{21})\end{array}$

C wherein _ijtried to achieve by initial attitude matrix

$\left[C_{\mathrm{ij}}\right]=\left[\begin{array}{ccc}{C}_{11}& C_{12}& C_{13}\\ C_{21}& C_{22}& C_{23}\\ C_{31}& C_{32}& C_{33}\end{array}\right]=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\γ}& \sin \mathrm{\γ}\\ 0& -\sin \mathrm{\γ}& \cos \mathrm{\γ}\end{array}\right]\left[\begin{array}{ccc}\cos \mathrm{\β}& 0& -\sin \mathrm{\β}\\ 0& 1& 0\\ \sin \mathrm{\β}& 0& \cos \mathrm{\β}\end{array}\right]\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\α}& \sin \mathrm{\α}\\ 0& -\sin \mathrm{\α}& \cos \mathrm{\α}\end{array}\right]$

α, β, the γ that resolves out from above-mentioned equation is exactly the attitude angle of the corresponding earth coordinates of rifle body now.

Claims (3)

1. the compound attitude parameter of shooting archery obtains system, comprises machine vision data collector, wireless attitude parameter acquisition device, synchronizing signal dispensing device and control center; Wherein:

Machine vision data collector comprises data acquisition facility, A trigger module and data transmission module, and described data acquisition facility is a high-speed camera;

Wireless attitude parameter acquisition device comprises sensor assembly, A microcontroller, memory module and A radio receiving transmitting module;

Synchronizing signal dispensing device comprises B radio receiving transmitting module, B trigger module, and B microcontroller;

Control center comprises central control module, Speech signal detection module, data transmit-receive module, synchronizing signal receiver module and data processing module;

Machine vision data collector is mainly responsible for the collection of athletes ' body main positions athletic posture, and wireless attitude parameter acquisition device is mainly responsible for sportsman and holds the collection of apparatus work attitude;

The hand-held shooting of sportsman or tackle, wireless attitude parameter acquisition device is arranged on shooting or tackle; Data acquisition facility in machine vision data collector is placed in athletic dead ahead; Control center is positioned over athletic right side; Described machine vision data collector collection sportsman holds the associ-ated motion parameters of shooting or tackle health main positions in shooting course, and sending it to control center, described wireless attitude parameter acquisition device is in order to gather the athletic posture of apparatus that sportsman holds; Control center carries out pre-service to the data that receive, and determines whether and hits the mark;

It is characterized in that: the sensor assembly of wireless attitude parameter acquisition device comprises gyroscope and acceleration transducer; The data processing of described data processing module adopts Kalman filtering algorithm to carry out smoothed data processing, and calculates attitude angle by Quaternion Method.

2. the compound attitude parameter of shooting archery according to claim 1 obtains system, it is characterized in that: described sensor assembly adopts encapsulation technology to use epoxy resin parcel.

3. the compound attitude parameter of shooting archery according to claim 1 obtains system, it is characterized in that: described sensor assembly obtains 200 secondary data continuously, and get the mean value of these data, in the calculating as the error compensation substitution data processing under current environment.